Vehicular electronic device, operation method of vehicular electronic device, and system

ABSTRACT

The present disclosure relates to a vehicular electronic device including a power supply configured to supply power, an interface configured to receive HD map data on a specific area and data on the location of a vehicle from a server through a communication device, and at least one processor configured to continuously generate electronic horizon data on a specific area based on the high-definition (HD) map data in the state of receiving the power, wherein, upon determining, based on the data on the location of the vehicle, that the traveling lane of the vehicle located at an intersection is different from a lane corresponding to a main path included in the electronic horizon data, the at least one processor changes the electronic horizon data based on the traveling lane.

TECHNICAL FIELD

The present disclosure relates to a vehicular electronic device, anoperation method of the vehicular electronic device, and a system.

BACKGROUND ART

A vehicle is an apparatus that moves in a direction desired by a userriding therein. A representative example of a vehicle is an automobile.In the automobile industry field, for convenience of a user driving avehicle, research on an advanced driver assistance system (ADAS)application is actively underway. Further, research on an autonomousdriving application for a vehicle is actively being conducted.

The ADAS application or the autonomous driving application may beconstituted based on map data. According to the conventional art,small-sized standard-definition (SD) map data is provided to a user inthe state of being stored in a memory provided in a vehicle. However,with the recent demand for voluminous high-definition (HD) map data, acloud service is utilized for provision of map data.

Meanwhile, a conventional navigation device guides a vehicle along apreset route regardless of the lane in which the vehicle is located whenthe vehicle is waiting for a traffic signal at an intersection. When itis determined that the vehicle is traveling a route different from apreset route at an intersection, a new route is set. However, in thecase of generating electronic horizon data based on HD map received froma cloud server and providing the same, in order to change the route, itis required to receive HD map data on a range not containing theexisting route and to process the same, which problematically takes sometime.

DISCLOSURE Technical Problem

The present disclosure has been made in view of the above problems, andit is an object of the present disclosure to provide a vehicularelectronic device that changes electronic horizon data in considerationof the traveling situation of a vehicle before the vehicle passesthrough an intersection.

In addition, it is an object of the present disclosure to provide anoperation method of a vehicular electronic device that changeselectronic horizon data in consideration of the traveling situation of avehicle before the vehicle passes through an intersection.

In addition, it is an object of the present disclosure to provide asystem that changes electronic horizon data in consideration of thetraveling situation of a vehicle before the vehicle passes through anintersection.

The objects to be accomplished by the disclosure are not limited to theabove-mentioned objects, and other objects not mentioned herein will beclearly understood by those skilled in the art from the followingdescription.

Technical Solution

In order to accomplish the above objects, a vehicular electronic deviceaccording to an embodiment of the present disclosure includes a powersupply configured to supply power, an interface configured to receive HDmap data on a specific area and data on the location of a vehicle from aserver through a communication device, and at least one processorconfigured to continuously generate electronic horizon data on aspecific area based on the high-definition (HD) map data in the state ofreceiving the power, wherein, upon determining, based on the data on thelocation of the vehicle, that the traveling lane of the vehicle locatedat an intersection is different from a lane corresponding to a main pathincluded in the electronic horizon data, the at least one processorchanges the electronic horizon data based on the traveling lane.

According to an embodiment of the present disclosure, upon determiningthat the traveling lane is a straight lane, the processor changes themain path to the straight lane at the intersection. Upon determiningthat the traveling lane is a left-turn lane, the processor changes themain path to the left-turn lane at the intersection. Upon determiningthat the traveling lane is a right-turn lane, the processor changes themain path to the right-turn lane at the intersection.

According to an embodiment of the present disclosure, the processoracquires information about an upcoming signal of a traffic light locatedat the intersection, and changes the electronic horizon data basedadditionally on the information about an upcoming signal of the trafficlight.

According to an embodiment of the present disclosure, when the travelinglane is a straight lane and the upcoming signal is a straight signal,the processor changes the main path to the straight lane at theintersection. When the traveling lane is a left-turn lane and theupcoming signal is a left-turn signal, the processor changes the mainpath to the left-turn lane at the intersection. When the traveling laneis a right-turn lane and the upcoming signal is a right-turn signal, theprocessor changes the main path to the right-turn lane at theintersection.

According to an embodiment of the present disclosure, the processorchanges the electronic horizon data before the vehicle enters theintersection.

Details of other embodiments are included in the detailed descriptionand the accompanying drawings.

Advantageous Effects

According to the present disclosure, there are one or more effects asfollows.

Since electronic horizon data is changed in accordance with thetraveling situation of a vehicle while the vehicle is waiting for asignal at an intersection, when the vehicle is driven by an ADASapplication or an autonomous driving application using HD map data, itis possible to quickly respond to a change in an existing route afterthe intersection.

The effects achievable through the disclosure are not limited to theabove-mentioned effects, and other effects not mentioned herein will beclearly understood by those skilled in the art from the appended claims.

DESCRIPTION OF DRAWINGS

FIG. 1 is a diagram illustrating a vehicle traveling on a road accordingto an embodiment of the present disclosure.

FIG. 2 is a diagram illustrating a system according to an embodiment ofthe present disclosure.

FIG. 3 is a diagram illustrating a vehicle including an electronicdevice according to an embodiment of the present disclosure.

FIG. 4 illustrates the external appearance of an electronic deviceaccording to an embodiment of the present disclosure.

FIGS. 5A to 5C are signal flow diagrams of a vehicle including anelectronic device according to an embodiment of the present disclosure.

FIGS. 6A and 6B are diagrams illustrating the operation of receiving HDmap data according to an embodiment of the present disclosure.

FIG. 6C is a diagram illustrating the operation of generating electronichorizon data according to an embodiment of the present disclosure.

FIG. 7 is a flowchart of an electronic device according to an embodimentof the present disclosure.

FIGS. 8A to 10 are diagrams illustrating the operation of an electronicdevice according to an embodiment of the present disclosure.

BEST MODE

Hereinafter, embodiments of the present disclosure will be described indetail with reference to the attached drawings. Like reference numeralsdenote the same or similar components throughout the drawings, and aredundant description of the same components will be avoided. The terms“module” and “unit”, with which the names of components are suffixed,are assigned or used only in consideration of preparation of thespecification, and may be interchanged with each other. The terms do nothave any distinguishable meanings or roles. A detailed description of arelated known technology will be omitted where it is determined that thesame would obscure the subject matter of embodiments of the presentdisclosure. Further, the attached drawings are provided to help easyunderstanding of embodiments of the present disclosure, rather than tolimit the scope and spirit of the present disclosure. Thus, it is to beunderstood that the present disclosure covers all modifications,equivalents, and alternatives falling within the scope and spirit of thepresent disclosure.

While ordinal numbers including “first”, “second”, etc. may be used todescribe various components, they are not intended to limit thecomponents. These expressions are used only to distinguish one componentfrom another component.

When it is said that a component is “connected to” or “coupled to”another component, it should be understood that the one component may beconnected or coupled to the other component directly or through someother component therebetween. On the other hand, when it is said that acomponent is “directly connected to” or “directly coupled to” anothercomponent, it should be understood that there is no other componentbetween the components.

Singular forms include plural referents unless the context clearlydictates otherwise.

In the following description, the term “include” or “have” signifies thepresence of a specific feature, number, step, operation, component,part, or combination thereof, but without excluding the presence oraddition of one or more other features, numbers, steps, operations,components, parts, or combinations thereof.

In the following description, the left of a vehicle means the left whenoriented in the forward traveling direction of the vehicle, and theright of a vehicle means the right when oriented in the forwardtraveling direction of the vehicle.

FIG. 1 is a diagram illustrating a vehicle traveling on a road accordingto an embodiment of the present disclosure.

Referring to FIG. 1, a vehicle 10 according to an embodiment of thepresent disclosure is defined as a transportation device that travels ona road or a railroad. The vehicle 10 conceptually includes anautomobile, a train, and a motorcycle. Hereinafter, an autonomousvehicle, which travels without driving manipulation on the part of adriver, or a vehicle equipped with an advanced driver assistance system(ADAS) will be described as an example of the vehicle 10.

The vehicle described in the specification may conceptually include aninternal combustion vehicle equipped with an engine as a power source, ahybrid vehicle equipped with an engine and an electric motor as powersources, and an electric vehicle equipped with an electric motor as apower source.

The vehicle 10 may include an electronic device 100. The electronicdevice 100 may be referred to as an electronic horizon provider (EHP).The electronic device 100 may be mounted in the vehicle 10, and may beelectrically connected to other electronic devices provided in thevehicle 10.

FIG. 2 is a diagram illustrating a system according to an embodiment ofthe present disclosure.

Referring to FIG. 2, the system 1 may include an infrastructure 20 andat least one vehicle 10 a and 10 b.

The infrastructure 20 may include at least one server 21. The server 21may receive data generated by the vehicles 10 a and 10 b. The server 21may process the received data. The server 21 may manage the receiveddata.

The server 21 may receive data generated by at least one electronicdevice mounted in the vehicles 10 a and 10 b. For example, the server 21may receive data generated by at least one of an EHP, a user interfacedevice, an object detection device, a communication device, a drivingoperation device, a main ECU, a vehicle-driving device, a drivingsystem, a sensing unit, or a location-data-generating device. The server21 may generate big data based on data received from a plurality ofvehicles. For example, the server 21 may receive dynamic data from thevehicles 10 a and 10 b, and may generate big data based on the receiveddynamic data. The server 21 may update HD map data based on datareceived from a plurality of vehicles. For example, the server 21 mayreceive data generated by the object detection device from the EHPincluded in the vehicles 10 a and 10 b, and may update HD map data.

The server 21 may provide pre-stored data to the vehicles 10 a and 10 b.For example, the server 21 may provide at least one of high-definition(HD) map data or standard-definition (SD) map data to the vehicles 10 aand 10 b. The server 21 may classify the map data on a per-sectionbasis, and may provide only map data on the section requested from thevehicles 10 a and 10 b. The HD map data may be referred to ashigh-precision map data.

The server 21 may provide data processed or managed by the server 21 tothe vehicles 10 a and 10 b. The vehicles 10 a and 10 b may generate adriving control signal based on the data received from the server 21.For example, the server 21 may provide HD map data to the vehicles 10 aand 10 b. For example, the server 21 may provide dynamic data to thevehicles 10 a and 10 b.

FIG. 3 is a diagram illustrating a vehicle including an electronicdevice according to an embodiment of the present disclosure.

FIG. 4 illustrates the external appearance of an electronic deviceaccording to an embodiment of the present disclosure.

Referring to FIGS. 3 and 4, the vehicle 10 may include an electronicdevice 100, a user interface device 200, an object detection device 210,a communication device 220, a driving operation device 230, a main ECU240, a vehicle-driving device 250, a driving system 260, a sensing unit270, and a location-data-generating device 280.

The electronic device 100 may be referred to as an electronic horizonprovider (EHP). The electronic device 100 may generate electronichorizon data, and may provide the electronic horizon data to at leastone electronic device provided in the vehicle 10.

The electronic horizon data may be explained as driving plan data thatis used when the driving system 260 generates a driving control signalof the vehicle 10. For example, the electronic horizon data may beunderstood as driving plan data within a range from a point at which thevehicle 10 is located to a horizon. Here, the horizon may be understoodas a point a predetermined distance from the point at which the vehicle10 is located along a predetermined traveling route. The horizon mayrefer to a point that the vehicle 10 reaches along a predeterminedtraveling route after a predetermined time period from the point atwhich the vehicle 10 is located. Here, the traveling route may refer toa traveling route to a final destination, and may be set through userinput.

The electronic horizon data may include horizon map data and horizonpath data.

The horizon map data may include at least one of topology data, ADASdata, HD map data, or dynamic data. According to an embodiment, thehorizon map data may include a plurality of layers. For example, thehorizon map data may include a first layer that matches the topologydata, a second layer that matches the ADAS data, a third layer thatmatches the HD map data, and a fourth layer that matches the dynamicdata. The horizon map data may further include static object data.

The topology data may be explained as a map created by connecting thecenters of roads. The topology data may be suitable for schematicdisplay of the location of a vehicle, and may primarily have a data formused for navigation for drivers. The topology data may be understood asdata about road information, other than information on driveways. Thetopology data may be generated on the basis of data received by theinfrastructure 20. The topology data may be based on data generated bythe infrastructure 20. The topology data may be based on data stored inat least one memory provided in the vehicle 10.

The ADAS data may be data related to road information. The ADAS data mayinclude at least one of road slope data, road curvature data, or roadspeed-limit data. The ADAS data may further include no-passing-zonedata. The ADAS data may be based on data generated by the infrastructure20. The ADAS data may be based on data generated by the object detectiondevice 210. The ADAS data may be referred to as road information data.

The HD map data may include topology information in units of detailedlanes of roads, information on connections between respective lanes, andfeature information for vehicle localization (e.g. traffic signs, lanemarking/attributes, road furniture, etc.). The HD map data may be basedon data generated by the infrastructure 20.

The dynamic data may include various types of dynamic information thatcan be generated on roads. For example, the dynamic data may includeconstruction information, variable-speed road information, roadcondition information, traffic information, moving object information,etc. The dynamic data may be based on data received by theinfrastructure 20. The dynamic data may be based on data generated bythe object detection device 210.

The electronic device 100 may provide map data within a range from thepoint at which the vehicle 10 is located to the horizon.

The horizon path data may be explained as a trajectory that the vehicle10 can take within a range from the point at which the vehicle 10 islocated to the horizon. The horizon path data may include dataindicating the relative probability of selecting one road at a decisionpoint (e.g. a fork, a junction, an intersection, etc.). The relativeprobability may be calculated on the basis of the time taken to arriveat a final destination. For example, if the time taken to arrive at afinal destination is shorter when a first road is selected at a decisionpoint than that when a second road is selected, the probability ofselecting the first road may be calculated to be higher than theprobability of selecting the second road.

The horizon path data may include a main path and a sub-path. The mainpath may be understood as a trajectory obtained by connecting roadshaving a high relative probability of being selected. The sub-path maybranch from at least one decision point on the main path. The sub-pathmay be understood as a trajectory obtained by connecting at least oneroad having a low relative probability of being selected at at least onedecision point on the main path.

The electronic device 100 may include an interface 180, a power supply190, a memory 140, and a processor 170.

The interface 180 may exchange signals with at least one electronicdevice provided in the vehicle 10 in a wired or wireless manner. Theinterface 180 may exchange signals with at least one of the userinterface device 200, the object detection device 210, the communicationdevice 220, the driving operation device 230, the main ECU 240, thevehicle-driving device 250, the driving system 260, the sensing unit270, or the location-data-generating device 280 in a wired or wirelessmanner. The interface 180 may be configured as at least one of acommunication module, a terminal, a pin, a cable, a port, a circuit, anelement, or a device.

The power supply 190 may provide power to the electronic device 100. Thepower supply 190 may receive power from a power source (e.g. a battery)included in the vehicle 10, and may supply the power to each unit of theelectronic device 100. The power supply 190 may be operated in responseto a control signal provided from the main ECU 240. The power supply 190may be implemented as a switched-mode power supply (SMPS).

The memory 140 is electrically connected to the processor 170. Thememory 140 may store basic data on units, control data for operationcontrol of units, and input/output data. The memory 140 may store dataprocessed by the processor 170. Hardware-wise, the memory 140 may beconfigured as at least one of ROM, RAM, EPROM, a flash drive, or a harddrive. The memory 140 may store various types of data for the overalloperation of the electronic device 100, such as a program for processingor control of the processor 170. The memory 140 may be integrated withthe processor 170.

The processor 170 may be electrically connected to the interface 180 andthe power supply 190, and may exchange signals therewith. The processor170 may be implemented using at least one of application specificintegrated circuits (ASICs), digital signal processors (DSPs), digitalsignal processing devices (DSPDs), programmable logic devices (PLDs),field programmable gate arrays (FPGAs), processors, controllers,microcontrollers, microprocessors, or electrical units for executingother functions.

The processor 170 may be driven by power provided from the power supply190. The processor 170 may continuously generate electronic horizon datawhile receiving power from the power supply 190.

The processor 170 may generate electronic horizon data. The processor170 may generate electronic horizon data. The processor 170 may generatehorizon path data.

The processor 170 may generate electronic horizon data in considerationof the driving situation of the vehicle 10. For example, the processor170 may generate electronic horizon data on the basis of the drivingdirection data and the driving speed data of the vehicle 10.

The processor 170 may combine the generated electronic horizon data withthe previously generated electronic horizon data. For example, theprocessor 170 may positionally connect horizon map data generated at afirst time point to horizon map data generated at a second time point.For example, the processor 170 may positionally connect horizon pathdata generated at a first time point to horizon path data generated at asecond time point.

The processor 170 may provide electronic horizon data. The processor 170may provide electronic horizon data to at least one of the drivingsystem 260 or the main ECU 240 through the interface 180.

The processor 170 may include a memory 140, an HD map processor 171, adynamic data processor 172, a matching unit 173, and a path generator175.

The HD map processor 171 may receive HD map data from the server 21through the communication device 220. The HD map processor 171 may storeHD map data. According to an embodiment, the HD map processor 171 mayprocess and manage HD map data.

The dynamic data processor 172 may receive dynamic data from the objectdetection device 210. The dynamic data processor 172 may receive dynamicdata from the server 21. The dynamic data processor 172 may storedynamic data. According to an embodiment, the dynamic data processor 172may process and manage dynamic data.

The matching unit 173 may receive an HD map from the HD map processor171. The matching unit 173 may receive dynamic data from the dynamicdata processor 172. The matching unit 173 may match HD map data anddynamic data to generate horizon map data.

According to an embodiment, the matching unit 173 may receive topologydata. The matching unit 173 may receive ADAS data. The matching unit 173may match topology data, ADAS data, HD map data, and dynamic data togenerate horizon map data.

The path generator 175 may generate horizon path data. The pathgenerator 175 may include a main path generator 176 and a sub-pathgenerator 177. The main path generator 176 may generate main path data.The sub-path generator 177 may generate sub-path data.

The electronic device 100 may include at least one printed circuit board(PCB). The interface 180, the power supply 190, and the processor 170may be electrically connected to the printed circuit board.

Meanwhile, according to an embodiment, the electronic device 100 may beintegrally formed with the communication device 220. In this case, thecommunication device 220 may be included as a lower-level component ofthe electronic device 100.

The user interface device 200 is a device used to allow the vehicle 10to communicate with a user. The user interface device 200 may receiveuser input, and may provide information generated by the vehicle 10 tothe user. The vehicle 10 may implement User Interfaces (UIs) or a UserExperience (UX) through the user interface device 200.

The object detection device 210 may detect objects outside the vehicle10. The object detection device 210 may include at least one of acamera, a radar, a lidar, an ultrasonic sensor, or an infrared sensor.The object detection device 210 may provide data on an object, generatedon the basis of a sensing signal generated by the sensor, to at leastone electronic device included in the vehicle.

The object detection device 210 may generate dynamic data on the basisof a sensing signal with respect to an object. The object detectiondevice 210 may provide the dynamic data to the electronic device 100.

The object detection device 210 may receive electronic horizon data. Theobject detection device 210 may include an electronic horizonre-constructor (EHR) 265. The EHR 265 may convert the electronic horizondata into a data format that can be used in the object detection device210.

The communication device 220 may exchange signals with a device locatedoutside the vehicle 10. The communication device 220 may exchangesignals with at least one of an infrastructure (e.g. a server) oranother vehicle. In order to implement communication, the communicationdevice 220 may include at least one of a transmission antenna, areception antenna, a Radio-Frequency (RF) circuit capable ofimplementing various communication protocols, or an RF device.

The driving operation device 230 is a device that receives user inputfor driving the vehicle. In the manual mode, the vehicle 10 may bedriven in response to a signal provided by the driving operation device230. The driving operation device 230 may include a steering inputdevice (e.g. a steering wheel), an acceleration input device (e.g. anaccelerator pedal), and a brake input device (e.g. a brake pedal).

The main electronic control unit (ECU) 240 may control the overalloperation of at least one electronic device provided in the vehicle 10.

The main ECU 240 may receive electronic horizon data. The main ECU 240may include an electronic horizon re-constructor (EHR) 265. The EHR 265may convert the electronic horizon data into a data format that can beused in the main ECU 240.

The vehicle-driving device 250 is a device that electrically controlsthe operation of various devices provided in the vehicle 10. Thevehicle-driving device 250 may include a powertrain-driving unit, achassis-driving unit, a door/window-driving unit, asafety-device-driving unit, a lamp-driving unit, and anair-conditioner-driving unit. The powertrain-driving unit may include apower-source-driving unit and a transmission-driving unit. Thechassis-driving unit may include a steering-driving unit, abrake-driving unit, and a suspension-driving unit.

The driving system 260 may perform the driving operation of the vehicle10. The driving system 260 may provide a control signal to at least oneof the powertrain-driving unit or the chassis-driving unit of thevehicle-driving device 250 to drive the vehicle 10.

The driving system 260 may receive electronic horizon data. The drivingsystem 260 may include an electronic horizon re-constructor (EHR) 265.The EHR 265 may convert the electronic horizon data into a data formatthat can be used in an ADAS application and an autonomous drivingapplication.

The driving system 260 may include at least one of an ADAS applicationand an autonomous driving application. The driving system 260 maygenerate a driving control signal using at least one of the ADASapplication or the autonomous driving application.

The sensing unit 270 may sense the state of the vehicle. The sensingunit 270 may include at least one of an inertial navigation unit (IMU)sensor, a collision sensor, a wheel sensor, a speed sensor, aninclination sensor, a weight detection sensor, a heading sensor, aposition module, a vehicle forward/reverse movement sensor, a batterysensor, a fuel sensor, a tire sensor, a steering sensor for detectingrotation of the steering wheel, a vehicle internal temperature sensor, avehicle internal humidity sensor, an ultrasonic sensor, an illuminancesensor, an accelerator pedal position sensor, or a brake pedal positionsensor. The inertial navigation unit (IMU) sensor may include at leastone of an acceleration sensor, a gyro sensor, or a magnetic sensor.

The sensing unit 270 may generate data on the state of the vehicle basedon the signal generated by at least one sensor. The sensing unit 270 mayobtain sensing signals of vehicle attitude information, vehicle motioninformation, vehicle yaw information, vehicle roll information, vehiclepitch information, vehicle collision information, vehicle headinginformation, vehicle angle information, vehicle speed information,vehicle acceleration information, vehicle inclination information,vehicle forward/reverse movement information, battery information, fuelinformation, tire information, vehicle lamp information, vehicleinternal temperature information, vehicle internal humidity information,a steering wheel rotation angle, vehicle external illuminance, thepressure applied to the accelerator pedal, the pressure applied to thebrake pedal, etc.

In addition, the sensing unit 270 may further include an acceleratorpedal sensor, a pressure sensor, an engine speed sensor, an air flowsensor (AFS), an air temperature sensor (ATS), a water temperaturesensor (WTS), a throttle position sensor (TPS), a TDC sensor, a crankangle sensor (CAS), etc.

The sensing unit 270 may generate vehicle state information on the basisof sensing data. The vehicle state information may be informationgenerated on the basis of data sensed by various sensors provided in thevehicle.

For example, the vehicle state information may include vehicle postureinformation, vehicle speed information, vehicle inclination information,vehicle weight information, vehicle heading information, vehicle batteryinformation, vehicle fuel information, vehicle tire air pressureinformation, vehicle steering information, vehicle internal temperatureinformation, vehicle internal humidity information, pedal positioninformation, vehicle engine temperature information, etc.

The location-data-generating device 280 may generate data on thelocation of the vehicle 10. The location-data-generating device 280 mayinclude at least one of a global positioning system (GPS) or adifferential global positioning system (DGPS). Thelocation-data-generating device 280 may generate data on the location ofthe vehicle 10 based on a signal generated by at least one of the GPS orthe DGPS. According to an embodiment, the location-data-generatingdevice 280 may correct the location data based on at least one of theinertial measurement unit (IMU) of the sensing unit 270 or the camera ofthe object detection device 210.

The vehicle 10 may include an internal communication system 50. Theplurality of electronic devices included in the vehicle 10 may exchangesignals via the internal communication system 50. Data may be includedin signals. The internal communication system 50 may use at least onecommunication protocol (e.g. CAN, LIN, FlexRay, MOST, and Ethernet).

FIG. 5A is a signal flow diagram of the vehicle including an electronicdevice according to an embodiment of the present disclosure.

Referring to FIG. 5A, the electronic device 100 may receive HD map datafrom the server 21 through the communication device 220.

The electronic device 100 may receive dynamic data from the objectdetection device 210. According to an embodiment, the electronic device100 may receive dynamic data from the server 21 through thecommunication device 220.

The electronic device 100 may receive the location data of the vehiclefrom the location-data-generating device 280.

According to an embodiment, the electronic device 100 may receive asignal based on user input through the user interface device 200.According to an embodiment, the electronic device 100 may receivevehicle state information from the sensing unit 270.

The electronic device 100 may generate electronic horizon data based onHD map data, dynamic data, and location data. The electronic device 100may match the HD map data, the dynamic data, and the location data togenerate horizon map data. The electronic device 100 may generatehorizon path data on the horizon map. The electronic device 100 maygenerate main path data and sub-path data on the horizon map.

The electronic device 100 may provide electronic horizon data to thedriving system 260. The EHR 265 of the driving system 260 may convertthe electronic horizon data into a data format that is suitable for theapplications 266 and 267. The applications 266 and 267 may generate adriving control signal based on the electronic horizon data. The drivingsystem 260 may provide the driving control signal to the vehicle-drivingdevice 250.

The driving system 260 may include at least one of the ADAS application266 or the autonomous driving application 267. The ADAS application 266may generate a control signal for assisting the driver in driving thevehicle 10 through the driving operation device 230 based on theelectronic horizon data. The autonomous driving application 267 maygenerate a control signal for enabling movement of the vehicle 10 basedon the electronic horizon data.

FIG. 5B is a signal flow diagram of the vehicle including an electronicdevice according to an embodiment of the present disclosure.

The difference from FIG. 5A will be mainly described with reference toFIG. 5B. The electronic device 100 may provide electronic horizon datato the object detection device 210. The EHR 265 of the object detectiondevice 210 may convert the electronic horizon data into a data formatthat is suitable for the object detection device 210. The objectdetection device 210 may include at least one of a camera 211, a radar212, a lidar 213, an ultrasonic sensor 214, or an infrared sensor 215.The electronic horizon data, the data format of which has been convertedby the EHR 265, may be provided to at least one of the camera 211, theradar 212, the lidar 213, the ultrasonic sensor 214, or the infraredsensor 215. At least one of the camera 211, the radar 212, the lidar213, the ultrasonic sensor 214, or the infrared sensor 215 may generatedata based on the electronic horizon data.

FIG. 5C is a signal flow diagram of the vehicle including an electronicdevice according to an embodiment of the present disclosure.

The difference from FIG. 5A will be mainly described with reference toFIG. 5C. The electronic device 100 may provide electronic horizon datato the main ECU 240. The EHR 265 of the main ECU 240 may convert theelectronic horizon data into a data format that is suitable for the mainECU 240. The main ECU 240 may generate a control signal based on theelectronic horizon data. For example, the main ECU 240 may generate acontrol signal for controlling at least one of the user interface device180, the object detection device 210, the communication device 220, thedriving operation device 230, the vehicle-driving device 250, thedriving system 260, the sensing unit 270, or thelocation-data-generating device 280 based on the electronic horizondata.

FIGS. 6A and 6B are diagrams illustrating the operation of receiving HDmap data according to an embodiment of the present disclosure.

The server 21 may classify HD map data in units of HD map tiles, and mayprovide the same to the electronic device 100. The processor 170 maydownload HD map data from the server 21 in units of HD map tiles throughthe communication device 220.

The HD map tiles may be defined as sub-HD map data obtained bygeographically sectioning the entire HD map in a rectangular shape. Theentire HD map data may be obtained by connecting all of the HD maptiles. Since the HD map data is voluminous data, a high-performancecontroller is required for the vehicle 10 in order to download theentire HD map data to the vehicle 10 to use the same. With thedevelopment of communication technology, efficient data processing ispossible by downloading, using, and deleting HD map data in the form ofHD map tiles, rather than installing a high-performance controller inthe vehicle 10.

The processor 170 may store the downloaded HD map tiles in the memory140. The processor 170 may delete the stored HD map tiles. For example,when the vehicle 10 moves out of an area corresponding to an HD maptile, the processor 170 may delete the HD map tile. For example, when apredetermined time period elapses after an HD map tile is stored, theprocessor 170 may delete the HD map tile.

FIG. 6A is a diagram illustrating the operation of receiving HD map datawhen there is no preset destination.

Referring to FIG. 6A, when there is no preset destination, the processor170 may receive a first HD map tile 351 including the location 350 ofthe vehicle 10. The server 21 may receive data on the location 350 ofthe vehicle 10 from the vehicle 10, and may provide the first HD maptile 351 including the location 250 of the vehicle 10 to the vehicle 10.In addition, the processor 170 may receive HD map tiles 352, 353, 354and 355 surrounding the first HD map tile 351. For example, theprocessor 170 may receive HD map tiles 352, 353, 354 and 355, which areadjacent to and respectively located above, below, and to the left andright of the first HD map tile 351. In this case, the processor 170 mayreceive a total of five HD map tiles. For example, the processor 170 mayfurther receive HD map tiles located in a diagonal direction, togetherwith the HD map tiles 352, 353, 354 and 355, which are adjacent to andrespectively located above, below, and to the left and right of thefirst HD map tile 351. In this case, the processor 170 may receive atotal of nine HD map tiles.

FIG. 6B is a diagram illustrating the operation of receiving HD map datawhen there is a preset destination.

Referring to FIG. 6B, when there is a preset destination, the processor170 may receive tiles 350, 352, 361, 362, 363, 364, 365, 366, 367, 368,369, 370 and 371, which are associated with a route 391 from thelocation 350 of the vehicle 10 to the destination. The processor 170 mayreceive a plurality of tiles 350, 352, 361, 362, 363, 364, 365, 366,367, 368, 369, 370 and 371 so as to cover the route 391.

The processor 170 may receive all of the tiles 350, 352, 361, 362, 363,364, 365, 366, 367, 368, 369, 370 and 371, which cover the route 391, atthe same time.

Alternatively, while the vehicle 10 is moving along the route 391, theprocessor 170 may sequentially receive the tiles 350, 352, 361, 362,363, 364, 365, 366, 367, 368, 369, 370 and 371 at two or more times.While the vehicle 10 is moving along the route 391, the processor 170may receive only some of the tiles 350, 352, 361, 362, 363, 364, 365,366, 367, 368, 369, 370 and 371 on the basis of the location of thevehicle 10. Thereafter, the processor 170 may continuously receive thetiles during the movement of the vehicle 10, and may delete thepreviously received tiles.

FIG. 6C is a diagram illustrating the operation of generating electronichorizon data according to an embodiment of the present disclosure.

Referring to FIG. 6C, the processor 170 may generate electronic horizondata on the basis of HD map data.

The vehicle 10 may be driven in the state in which the final destinationis set. The final destination may be set based on user input receivedthrough the user interface device 200 or the communication device 220.According to an embodiment, the final destination may be set by thedriving system 260.

In the state in which the final destination is set, the vehicle 10 maybe located within a predetermined distance from a first point whiletraveling. When the vehicle 10 is located within a predetermineddistance from the first point, the processor 170 may generate electronichorizon data having the first point as a starting point and a secondpoint as an ending point. The first point and the second point may bepoints on the route to the final destination. The first point may beexplained as a point at which the vehicle 10 is located or is to belocated in the near future. The second point may be explained as thehorizon described above.

The processor 170 may receive an HD map of an area including the sectionfrom the first point to the second point. For example, the processor 170may request and receive an HD map of an area within a predeterminedradius from the section from the first point to the second point.

The processor 170 may generate electronic horizon data on the areaincluding the section from the first point to the second point on thebasis of the HD map. The processor 170 may generate horizon map data onthe area including the section from the first point to the second point.The processor 170 may generate horizon path data on the area includingthe section from the first point to the second point. The processor 170may generate data on a main path 313 in the area including the sectionfrom the first point to the second point. The processor 170 may generatea sub-path 314 in the area including the section from the first point tothe second point.

When the vehicle 10 is located within a predetermined distance from thesecond point, the processor 170 may generate electronic horizon datahaving the second point as a starting point and a third point as anending point. The second point and the third point may be points on theroute to the final destination. The second point may be explained as apoint at which the vehicle 10 is located or is to be located in the nearfuture. The third point may be explained as the horizon described above.Meanwhile, the electronic horizon data having the second point as astarting point and the third point as an ending point may begeographically connected to the above-described electronic horizon datahaving the first point as a starting point and the second point as anending point.

The operation of generating the electronic horizon data having the firstpoint as a starting point and the second point as an ending point may beapplied to the operation of generating the electronic horizon datahaving the second point as a starting point and the third point as anending point.

According to an embodiment, the vehicle 10 may be driven even when afinal destination is not set.

FIG. 7 is a flowchart of an electronic device according to an embodimentof the present disclosure.

Referring to FIG. 7, the processor 170 may receive power through thepower supply 190 (S710). The power supply 190 may supply power to theprocessor 170. When the vehicle 10 is turned on, the processor 170 mayreceive power supplied from the battery provided in the vehicle 10through the power supply 190. The processor 170 may perform a processingoperation when receiving power.

The processor 170 may acquire data on the location of the vehicle 10(S720). The processor 170 may receive data on the location of thevehicle 10 at regular intervals from the location-data-generating device280 through the interface 180. While the vehicle 10 is traveling, theinterface 180 may receive data on the location of the vehicle 10 fromthe location-data-generating device 280. The interface 180 may transmitthe received location data to the processor 170.

The processor 170 may receive HD map data through the interface 180(S730). While the vehicle 10 is traveling, the interface 180 may receiveHD map data on a specific geographic area from the server 21 through thecommunication device 220. The interface 180 may receive HD map data onan area around the location of the vehicle 10. The interface 180 maytransmit the received HD map data to the processor 170.

The processor 170 may continuously generate electronic horizon data on aspecific area based on HD map data in the state of receiving power(S740). The processor 170 may generate electronic horizon data from thelocation of the vehicle 10 to the horizon. The electronic horizon datamay include horizon map data and horizon path data. The horizon pathdata may include a main path and a sub-path.

The processor 170 may determine whether the vehicle 10 is located at anintersection (S750). The processor 170 may determine whether the vehicle10 is located at an intersection based on data on the location of thevehicle 10 and HD map data. The processor 170 may determine whether thevehicle 10 is waiting for a traffic signal at an intersection.

The processor 170 may determine whether the vehicle 10 is located at anintersection based on data generated in the object detection device 210.For example, the processor 170 may determine whether the vehicle 10 islocated at an intersection based on at least one of the camera 211, theradar 212, the lidar 213, the ultrasonic sensor 214, or the infraredsensor 215. The processor 170 may determine whether the vehicle 10 islocated at an intersection based on data generated in the sensing unit270. For example, the processor 170 may determine whether the vehicle 10is located at an intersection based on data generated in at least one ofthe camera 211, the radar 212, the lidar 213, the ultrasonic sensor 214,or the infrared sensor 215.

The processor 170 may combine two or more of data on the location of thevehicle 10, HD map data, data generated in the object detection device210, and data generated in the sensing unit 270 in order to determinewhether the vehicle 10 is located at an intersection.

The processor 170 may determine whether the lane in which the vehicle 10is traveling is different from the lane corresponding to the main pathincluded in the electronic horizon data (S760). The processor 170 maydetermine whether the lane in which the vehicle 10 is traveling isdifferent from the lane corresponding to the main path based on data onthe location of the vehicle 10 and HD map data.

The processor 170 may determine whether the lane in which the vehicle 10is traveling is different from the lane corresponding to the main pathbased on data generated in the object detection device 210. For example,the processor 170 may determine whether the lane in which the vehicle 10is traveling is different from the lane corresponding to the main pathbased on data generated in at least one of the camera 211, the radar212, the lidar 213, the ultrasonic sensor 214, or the infrared sensor215.

The processor 170 may determine whether the lane in which the vehicle 10is traveling is different from the lane corresponding to the main pathbased on data generated in the sensing unit 270. The processor 170 maydetermine whether the lane in which the vehicle 10 is traveling isdifferent from the lane corresponding to the main path based on datagenerated in at least one of the IMU sensor, the heading sensor, thesteering sensor, the accelerator pedal position sensor, or the brakepedal position sensor.

The processor 170 may combine two or more of data on the location of thevehicle 10, HD map data, data generated in the object detection device210, and data generated in the sensing unit 270 in order to determinewhether the lane in which the vehicle 10 is traveling is different fromthe lane corresponding to the main path.

Upon determining that the traveling lane of the vehicle located at anintersection is different from the lane corresponding to the main path,the processor 170 may change the electronic horizon data based on thetraveling lane (S770). The step of changing (S770) may include, when itis determined that the traveling lane is a straight lane, a step ofchanging the main path to the straight lane at the intersection. Theprocessor 170 may determine that the vehicle 10 is located in a straightlane while waiting for a traffic signal at an intersection. Upondetermining that the traveling lane is a straight lane, the processor170 may change the main path to the straight lane at the intersection.

The step of changing (S770) may include, when it is determined that thetraveling lane is a left-turn lane, a step of changing the main path tothe left-turn lane at the intersection. The processor 170 may determinethat the vehicle 10 is located in a left-turn lane while waiting for atraffic signal at an intersection. Upon determining that the travelinglane is a left-turn lane, the processor 170 may change the main path tothe left-turn lane at the intersection.

The step of changing (S770) may include, when it is determined that thetraveling lane is a right-turn lane, a step of changing the main path tothe right-turn lane at the intersection. The processor 170 may determinethat the vehicle 10 is located in a right-turn lane while waiting for atraffic signal at an intersection. Upon determining that the travelinglane is a right-turn lane, the processor 170 may change the main path tothe right-turn lane at the intersection.

The step of changing (S770) may include a step of acquiring informationabout an upcoming signal of a traffic light located at an intersectionand changing the electronic horizon data based additionally on theinformation about an upcoming signal of the traffic light. The processor170 may acquire information about an upcoming signal of a traffic lightlocated at an intersection from the communication device 220 through theinterface 180. The communication device 220 may receive informationabout an upcoming signal of a traffic light from a traffic controlserver, and may provide the same to the electronic device 100. Theprocessor 170 may change the electronic horizon data based additionallyon the information about an upcoming signal of a traffic light.

The step of changing (S770) may include, when the traveling lane is astraight lane and an upcoming signal is a straight signal, a step ofchanging the main path to the straight lane at the intersection. Theprocessor 170 may determine that the vehicle 10 is located in a straightlane while waiting for a traffic signal at an intersection. Theprocessor 170 may receive upcoming signal information indicating achange to a straight signal. When the traveling lane is a straight laneand an upcoming signal is a straight signal, the processor 170 maychange the main path to the straight lane at the intersection.

The step of changing (S770) may include, when the traveling lane is aleft-turn lane and an upcoming signal is a left-turn signal, a step ofchanging the main path to the left-turn lane at the intersection. Theprocessor 170 may determine that the vehicle 10 is located in aleft-turn lane while waiting for a traffic signal at an intersection.The processor 170 may receive upcoming signal information indicating achange to a left-turn signal. When the traveling lane is a left-turnlane and an upcoming signal is a left-turn signal, the processor 170 maychange the main path to the left-turn lane at the intersection.

The step of changing (S770) may include, when the traveling lane is aright-turn lane and an upcoming signal is a right-turn signal, a step ofchanging the main path to the right-turn lane at the intersection. Theprocessor 170 may determine that the vehicle 10 is located in aright-turn lane while waiting for a traffic signal at an intersection.The processor 170 may receive upcoming signal information indicating achange to a right-turn signal. When the traveling lane is a right-turnlane and an upcoming signal is a right-turn signal, the processor 170may change the main path to the right-turn lane at the intersection.

In the step of changing (S770), at least one processor 170 may changethe electronic horizon data before the vehicle 10 enters anintersection.

The processor 170 may provide the electronic horizon data to the drivingsystem 260 through the interface 180 (S780). The processor 170 mayprovide electronic horizon data corresponding to a set geographic rangeto the driving system 260 through the interface 180. Thereafter, theprocessor 170 may repeatedly perform steps subsequent to step S720.

Meanwhile, steps S720 to S780 may be performed in the state of receivingpower from the power supply 190.

FIGS. 8 to 10 are diagrams illustrating the operation of an electronicdevice according to an embodiment of the present disclosure.

Referring to FIGS. 8 and 9, the processor 170 may receive HD map data.The processor 170 may receive data on the location of the vehicle 10 atregular intervals. The processor 170 may determine whether the vehicle10 is located at an intersection based on the data on the location ofthe vehicle 10. The processor 170 may determine whether the vehicle 10is waiting for a traffic signal depending on whether the vehicle 10 isin a stopped state. The processor 170 may determine the lane in whichthe vehicle 10 is located. For example, the processor 170 may determinewhether the vehicle 10 is located in a straight lane at an intersection.For example, the processor 170 may determine whether the vehicle 10 islocated in a left-turn lane at an intersection. For example, theprocessor 170 may determine whether the vehicle 10 is located in aright-turn lane at an intersection.

Upon determining that the vehicle 10 is waiting for a traffic signal atan intersection, the processor 170 may compare the lane corresponding tothe main path of the electronic horizon data to the lane in which thevehicle 10 is located. The processor 170 may determine whether the lanecorresponding to the main path matches the lane in which the vehicle 10is located. When the lane corresponding to the main path matches thelane in which the vehicle 10 is located, the processor 170 does notchange the previously generated electronic horizon data. When the lanecorresponding to the main path does not match the lane in which thevehicle 10 is located, the processor 170 may change the previouslygenerated electronic horizon data.

As illustrated in FIG. 8, the processor 170 may determine that the lanein which the vehicle 10 is located is a straight lane at an intersectionalthough the main path includes a left-turn route 810 at theintersection. In this case, as illustrated in FIG. 9, the processor 170may change, based on the lane in which the vehicle 10 is located, themain path such that the vehicle travels straight (910) through theintersection. The processor 170 may change the sub-path in accordancewith the change in the main path. The processor 170 may download HD maptiles again.

The processor 170 may determine that the lane in which the vehicle 10 islocated is a left-turn lane at an intersection although the main pathincludes a straight route at the intersection. In this case, theprocessor 170 may change, based on the lane in which the vehicle 10 islocated, the main path such that the vehicle turns left at theintersection. The processor 170 may change the sub-path in accordancewith the change in the main path. The processor 170 may download HD maptiles again.

The processor 170 may determine that the lane in which the vehicle 10 islocated is a right-turn lane at an intersection although the main pathincludes a straight route at the intersection. In this case, theprocessor 170 may change, based on the lane in which the vehicle 10 islocated, the main path such that the vehicle turns right at theintersection. The processor 170 may change the sub-path in accordancewith the change in the main path. The processor 170 may download HD maptiles again.

The processor 170 may provide the electronic horizon data including thechanged main path and the changed sub-path to the driving system 260.The driving system 260 may generate a control signal such that thevehicle 10 is driven based on the changed electronic horizon data.

Referring to FIG. 10, the processor 170 may receive information about anupcoming signal of a traffic light 1020. The communication device 220may communicate with the server via a road side unit (RSU) 1030. Thecommunication device 220 may receive information about an upcomingsignal of the traffic light 1020 from the server, and may provide thesame to the electronic device 100. The processor 170 may change theelectronic horizon data based on the information about the lane in whichthe vehicle 10 is located and the upcoming signal information.

In the state in which the lane corresponding to the main path does notmatch the lane in which the vehicle 10 is located, the processor 170 maydetermine whether the lane in which the vehicle 10 is located matches anupcoming signal of the traffic light 1020.

As illustrated in FIG. 10, in the state in which the lane correspondingto the main path does not match the lane in which the vehicle 10 islocated, upon determining that the lane in which the vehicle 10 islocated is a straight lane and an upcoming signal of the traffic light1020 is a straight signal, the processor 170 may change the main pathsuch that the vehicle travels straight (1010) through the intersection.

In the state in which the lane corresponding to the main path does notmatch the lane in which the vehicle 10 is located, upon determining thatthe lane in which the vehicle 10 is located is a left-turn lane and anupcoming signal of the traffic light 1020 is a left-turn signal, theprocessor 170 may change the main path such that the vehicle turns leftat the intersection.

In the state in which the lane corresponding to the main path does notmatch the lane in which the vehicle 10 is located, upon determining thatthe lane in which the vehicle 10 is located is a right-turn lane and anupcoming signal of the traffic light 1020 is a right-turn signal, theprocessor 170 may change the main path such that the vehicle turns rightat the intersection.

The above-described present disclosure may be implemented ascomputer-readable code stored on a computer-readable recording medium.The computer-readable recording medium may be any type of recordingdevice in which data is stored in a computer-readable manner. Examplesof the computer-readable recording medium include a Hard Disk Drive(HDD), a Solid-State Disk (SSD), a Silicon Disk Drive (SDD), ROM, RAM, aCD-ROM, a magnetic tape, a floppy disk, an optical data storage device,a carrier wave (e.g. transmission via the Internet), etc. In addition,the computer may include a processor or a controller. The aboveembodiments are therefore to be construed in all aspects as illustrativeand not restrictive. The scope of the disclosure should be determined byreasonable interpretation of the appended claims, and all equivalentmodifications made without departing from the disclosure should beconsidered to be included in the following claims.

DESCRIPTION OF REFERENCE NUMERALS

-   -   1: system    -   10: vehicle    -   100: electronic device    -   170: processor

1. A vehicular electronic device comprising: a power supply configuredto supply power; an interface configured to receive HD map data on aspecific area and data on a location of a vehicle from a server througha communication device; and at least one processor configured tocontinuously generate electronic horizon data on a specific area basedon the high-definition (HD) map data in a state of receiving the power,wherein, upon determining, based on the data on the location of thevehicle, that a traveling lane of the vehicle located at an intersectionis different from a lane corresponding to a main path included in theelectronic horizon data, the at least one processor changes theelectronic horizon data based on the traveling lane.
 2. The vehicularelectronic device of claim 1, wherein, upon determining that thetraveling lane is a straight lane, the processor changes the main pathto the straight lane at the intersection, wherein, upon determining thatthe traveling lane is a left-turn lane, the processor changes the mainpath to the left-turn lane at the intersection, and wherein, upondetermining that the traveling lane is a right-turn lane, the processorchanges the main path to the right-turn lane at the intersection.
 3. Thevehicular electronic device of claim 1, wherein the processor acquiresinformation about an upcoming signal of a traffic light located at theintersection, and changes the electronic horizon data based additionallyon the information about an upcoming signal of the traffic light.
 4. Thevehicular electronic device of claim 3, wherein, when the traveling laneis a straight lane and the upcoming signal is a straight signal, theprocessor changes the main path to the straight lane at theintersection, wherein, when the traveling lane is a left-turn lane andthe upcoming signal is a left-turn signal, the processor changes themain path to the left-turn lane at the intersection, and wherein, whenthe traveling lane is a right-turn lane and the upcoming signal is aright-turn signal, the processor changes the main path to the right-turnlane at the intersection.
 5. The vehicular electronic device of claim 1,wherein the processor changes the electronic horizon data before thevehicle enters the intersection.
 6. An operation method of a vehicularelectronic device, the method comprising: receiving, by at least oneprocessor, power; receiving, by the at least one processor, HD map dataon a specific area from a server through a communication device in astate of receiving the power; generating, by the at least one processor,electronic horizon data on a specific area based on the HD map data in astate of receiving the power; determining, by the at least oneprocessor, whether a vehicle is located at an intersection; determining,by the at least one processor, whether a traveling lane of the vehicleis different from a lane corresponding to a main path included in theelectronic horizon data; and when it is determined that the travelinglane of the vehicle located at the intersection is different from thelane corresponding to the main path, changing, by the at least oneprocessor, the electronic horizon data based on the traveling lane. 7.The method of claim 6, wherein the changing comprises: when it isdetermined that the traveling lane is a straight lane, changing, by theat least one processor, the main path to the straight lane at theintersection; when it is determined that the traveling lane is aleft-turn lane, changing, by the at least one processor, the main pathto the left-turn lane at the intersection; and when it is determinedthat the traveling lane is a right-turn lane, changing, by the at leastone processor, the main path to the right-turn lane at the intersection.8. The method of claim 6, wherein the changing comprises: acquiring, bythe at least one processor, information about an upcoming signal of atraffic light located at the intersection; and changing, by the at leastone processor, the electronic horizon data based additionally on theinformation about an upcoming signal of the traffic light.
 9. The methodof claim 8, wherein the changing comprises: when the traveling lane is astraight lane and the upcoming signal is a straight signal, changing, bythe at least one processor, the main path to the straight lane at theintersection; when the traveling lane is a left-turn lane and theupcoming signal is a left-turn signal, changing, by the at least oneprocessor, the main path to the left-turn lane at the intersection; andwhen the traveling lane is a right-turn lane and the upcoming signal isa right-turn signal, changing, by the at least one processor, the mainpath to the right-turn lane at the intersection.
 10. The method of claim6, wherein the changing comprises: changing, by the at least oneprocessor, the electronic horizon data before the vehicle enters theintersection.
 11. A system comprising: a server configured to provide HDmap data; and at least one vehicle comprising an electronic deviceconfigured to receive the HD map data, wherein the electronic devicecomprises: a power supply configured to supply power; an interfaceconfigured to receive HD map data on a specific area and data on alocation of the vehicle from the server through a communication device;and at least one processor configured to continuously generateelectronic horizon data on a specific area based on the high-definition(HD) map data in a state of receiving the power, and wherein, upondetermining, based on the data on the location of the vehicle, that atraveling lane of the vehicle located at an intersection is differentfrom a lane corresponding to a main path included in the electronichorizon data, the at least one processor changes the electronic horizondata based on the traveling lane.
 12. The system of claim 11, wherein,upon determining that the traveling lane is a straight lane, theprocessor changes the main path to the straight lane at theintersection, wherein, upon determining that the traveling lane is aleft-turn lane, the processor changes the main path to the left-turnlane at the intersection, and wherein, upon determining that thetraveling lane is a right-turn lane, the processor changes the main pathto the right-turn lane at the intersection.
 13. The system of claim 11,wherein the processor acquires information about an upcoming signal of atraffic light located at the intersection, and changes the electronichorizon data based additionally on the information about an upcomingsignal of the traffic light.
 14. The system of claim 13, wherein, whenthe traveling lane is a straight lane and the upcoming signal is astraight signal, the processor changes the main path to the straightlane at the intersection, wherein, when the traveling lane is aleft-turn lane and the upcoming signal is a left-turn signal, theprocessor changes the main path to the left-turn lane at theintersection, and wherein, when the traveling lane is a right-turn laneand the upcoming signal is a right-turn signal, the processor changesthe main path to the right-turn lane at the intersection.
 15. The systemof claim 11, wherein the processor changes the electronic horizon databefore the vehicle enters the intersection.